Radiography system and moving method thereof

ABSTRACT

A radiography system is provided. The radiography system includes a radiographic device arranged in a movable manner, a measuring device to measure at least one of external force and torque applied to the radiographic device, and a drive device to move the radiographic device based on a direction and magnitude of the at least one of the force and torque measured by the measuring device.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of Korean Patent Application No.10-2010-0097304, filed on Oct. 6, 2010 in the Korean IntellectualProperty Office, the entire disclosure of which is incorporated hereinby reference for all purposes.

BACKGROUND

1. Field

The following description relates to a radiography system and a movingmethod thereof.

2. Description of the Related Art

A radiography system is widely used to process an images of an interiorimages of the human body using x-rays and is used in examination ofinternal injuries to the human body or diseases affecting the human bodythat are difficult to detect based on externally looking at the humanbody. To obtain an interior image of a selected region of the humanbody, such as the head or the chest, the radiography system transmitsx-rays to the selected region and detects the transmitted x-rays.

The radiography system includes an x-ray tube to transmit x-rays to theregion. The x-ray tube is movable to inspect various regions of thebody.

A conventional ceiling type radiography system includes at least oneguide rail mounted to the ceiling of an inspection room and a telescopicpost frame extending up and down connected to the guide rail. The x-raytube is rotatably connected to a lower end of the telescopic post frame.

Recently, an automated movement mode has been developed in which anactuator is connected to a moving shaft of the ceiling type radiographysystem and automatically moves the x-ray tube to a desired positioninput by a user.

The radiography system may also include a manual movement mode to allowthe user to manually move the x-ray tube. A manual operating switch maybe provided on the x-ray tube to activate the manual movement mode. Theuser may manually move the x-ray tube after switching from the automatedmovement mode to the manual movement mode using the manual operatingswitch.

Moving the x-ray tube, when in the manual movement mode, may require theuser to apply a great force or torque to the x-ray tube due to 1) theweight of the x-ray tube and 2) friction resistance at each drive shaftof the radiography system. Therefore, repeatedly moving the x-ray tube,in the manual movement mode, may cause the user to get tired andphysically fatigued.

SUMMARY

In one general aspect, there is provided a radiography system includes aradiographic device arranged in a movable manner, a measuring device tomeasure at least one of external force and torque applied to theradiographic device, and a drive device to move the radiographic devicebased on a direction and magnitude of the at least one of the force andtorque measured by the measuring device.

The radiography system may further include a first guide rail fixed to aceiling extending in a first direction, the radiographic device may bemovable in the first direction along the first guide rail, the measuringdevice may include a first force sensor to measure external forceapplied to the radiographic device in the first direction, and the drivedevice may include a first drive device to move the radiographic devicein the first direction.

The radiography system may further include a second guide rail slidablycoupled to the first guide rail, the second guide rail extending in asecond direction perpendicular to the first direction, the radiographicdevice may be movable in the second direction along the second guiderail, the measuring device may further include a second force sensor tomeasure external force applied to the radiographic device in the seconddirection, and the drive device may further include a second drivedevice to move the radiographic device in the second direction.

The radiography system may further include a post frame having a lengthof which increases or decreases in a third direction perpendicular tothe first direction and the second direction, the radiographic devicemay be movable in the third direction as the length of the post frameincreases or decreases, the measuring device may further include a thirdforce sensor to measure external force applied to the radiographicdevice in the third direction, and the drive device may further includea third drive device to move the radiographic device in the thirddirection.

The third force sensor may be arranged near an output of the third drivedevice.

The radiography system may further include a first rotating jointrotatable in a fourth direction, the fourth direction being defined as arotating direction about an axis substantially parallel to the thirddirection, the radiographic device may be connected to the firstrotating joint and is rotatable in the fourth direction, the measuringdevice may further include a first torque sensor to measure torqueapplied to the radiographic device in the fourth direction, and thedrive device may further include a fourth drive device to rotate theradiographic device in the fourth direction.

The radiography system may further include a second rotating jointrotatable in a fifth direction, the fifth direction being defined as arotating direction about an axis substantially parallel to the firstdirection, the radiographic device may be connected to the secondrotating joint and is rotatable in the fifth direction, the measuringdevice may further include a second torque sensor to measure torqueapplied to the radiographic device in the fifth direction, and the drivedevice may further include a fifth drive device to rotate theradiographic device in the fifth direction.

The radiography system may further include a control device connected toboth the measuring device and the drive device.

The control device may control the magnitude and direction of driveforce of the drive device based on a value measured by the measuringdevice.

The measuring device may include a force torque sensor to measure forceapplied along each of three axes perpendicular to one another and torqueapplied along each of at least two of the three axes.

The radiography system may further include a handle fixed to a sidesurface of the radiographic device so as to apply at least one of forceand torque to the radiographic device, the force torque sensor may bearranged between the handle and the radiographic device.

The radiography system may further include a rotating joint connected tothe radiographic device to enable rotation of the radiographic device,the force torque sensor may be arranged between the radiographic deviceand the rotating joint.

A single force sensor may include the first, second, and third forcesensors.

In another aspect, there is provided a moving method of a radiographysystem including a radiographic device to transmit X-rays, a measuringdevice to measure at least one of force and torque applied to theradiographic device, and a drive device connected to the radiographicdevice to move the radiographic device, include applying at least one offorce and torque to the radiographic device to move the radiographicdevice, measuring at least one of the force and torque applied to theradiographic device using the measuring device, and moving theradiographic device based on the direction and magnitude of at least oneof the measured force and torque using the drive device.

The radiography system may further include a control device connected toboth the measuring device and the drive device, and the moving methodmay further include controlling operation of the drive device using thecontrol device by determining the direction and magnitude of drive forceof the drive device based on the direction and magnitude of at least oneof the measured force and torque.

The radiography method may further include periodically monitoring thedirection and magnitude of at least one of the measured force and torqueusing the control device.

The radiography system may further include a handle fixed to theradiographic device for user grip, and the measuring device and thedrive device may be operated only when the user grips the handle.

In still another aspect, there is provided a moving method of aradiography system including a radiographic device to transmit X-raysand a drive device connected to the radiographic device to move theradiographic device, includes measuring a first current value of thedrive device when no external force and torque is applied to theradiographic device, measuring a second current value of the drivedevice when at least one of external force and torque is applied to theradiographic device, determining the direction and magnitude of at leastone of the external force and torque applied to the radiographic devicevia a difference between the first current value and the second currentvalue, and moving the radiographic device by operating the drive devicebased on the determined direction and magnitude of at least one of theforce and torque.

In still another aspect, there is provided a radiography systemincluding a radiographic device capable of being moved in at least onefirst direction, a controller capable of receiving an external force andtorque in at least one second direction, a measuring device capable ofmeasuring the received external force and torque in the at least onesecond direction, a translating device configured to translate thereceived external force and torque received by the controller in the atleast one second direction to be applied to the radiographic device in afirst direction, and a drive device to move the radiographic device inthe at least one first direction based on the translated measuredreceived external force and torque in the at least one second direction.

The at least one first direction may be in the same direction as the atleast one second direction.

Other features and aspects may be apparent from the following detaileddescription, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a conceptual view illustrating structures of a radiographysystem, according to an example embodiment.

FIG. 2 is a perspective view of the radiography system, according to anexample embodiment.

FIG. 3 is an exploded perspective view of the radiography system,according to an example embodiment.

FIG. 4 is a side view illustrating a moving handle provided in theradiography system, according to an example embodiment.

FIG. 5A is an exploded perspective view of a radiography system,according to another example embodiment.

FIG. 5B is a perspective view of a force torque sensor provided in theradiography system of FIG. 5A;

FIG. 6 is a flow chart illustrating a moving method of the radiographysystem, according to an example embodiment.

FIG. 7 is a view illustrating the moving method of the radiographysystem, according to another example embodiment.

Throughout the drawings and the detailed description, unless otherwisedescribed, the same drawing reference numerals will be understood torefer to the same elements, features, and structures. The relative sizeand depiction of these elements may be exaggerated for clarity,illustration, and convenience.

DETAILED DESCRIPTION

The following detailed description is provided to assist the reader ingaining a comprehensive understanding of the methods, apparatuses,and/or systems described herein. Accordingly, various changes,modifications, and equivalents of the systems, apparatuses and/ormethods described herein will be suggested to those of ordinary skill inthe art. Also, descriptions of well-known functions and constructionsmay be omitted for increased clarity and conciseness.

FIG. 1 through FIG. 4 illustrate examples of a structure of radiographysystem.

Referring to FIG. 1, a radiographic device 70 may be mechanicallycoupled to a measuring device 120 and a drive device 110. A controldevice 130 may be connected to the measuring device 120 and the drivedevice 110 electrically. Each device will be described later in detail.

Referring to FIGS. 2 through to 4, the radiography system 1 may includea guide rail 30, a moving carriage 40, a post frame 50, the radiographicdevice 70, and the drive device 110. The radiography system 1 mayfurther include a stand 10 and a table 20, which include respectivex-ray receivers 11 and 21.

The guide rail 30, moving carriage 40, and post frame 50 may aid inmoving the radiographic device 70 to the desired location.

The guide rail 30 may include a first guide rail 31 and a second guiderail 32 which are oriented at an angle with respect to each other andhave a predetermined angle therebetween. The first guide rail 31 and thesecond guide rail 32 may extend perpendicularly with respect to eachother.

The first guide rail 31 may be mounted to the ceiling of an inspectionroom in which the radiography system 1 is located. The second guide rail32 may be located beneath the first guide rail 31 and may be slidablyinstalled to the first guide rail 31. The first guide rail 31 may have aroller (not shown) which moves along a length or a longitudinal axis ofthe first guide rail 31. The second guide rail 32 may also be connectedto the roller (not shown) which moves along the length or thelongitudinal axis of the first guide rail 31.

A direction of extension of the first guide rail 31 may be referred toas a first direction D1 and a direction of extension of the second guiderail 32 may be referred to as a second direction D2. The first directionD1 and the second direction D2 may be perpendicular to each other andmay be parallel to the ceiling of the inspection room.

The moving carriage 40 may be located beneath the second guide rail 32and is movable on the second guide rail 32. The moving carriage 40 maybe provided with a roller (not shown) which is movable along a length ora longitudinal axis of the second guide rail 32. In other words, themoving carriage 40 may be movable in the first direction D1 along withthe second guide rail 32, and also be movable along the second guiderail 32 in the second direction D2.

The post frame 50 may be secured to the moving carriage 40 and may belocated underneath the moving carriage 40. The post frame 50 may be madeup of a plurality of posts.

The plurality of posts may be connected to one another in a telescopicmanner so that the post frame 50 a variable vertical length that can beadjusted vertically. A direction in which the post frame 50 may bevariable in length is referred to as a third direction D3. Thus, thethird direction D3 may be perpendicular to both the first direction D1and the second direction D2.

The radiographic device 70 may transmit x-rays to a subject to bex-rayed. The radiographic device 70 may be an x-ray tube. The x-ray tubemay include an x-ray source 71 to generate x-rays and a collimator 72 toguide the generated x-rays toward the subject.

A rotating joint 60 may be provided between the radiographic device 70and the post frame 50. The rotating joint 60 couples the radiographicdevice 70 to the post frame 50 and supports a load applied to theradiographic device 70.

The rotating joint 60 may include a first rotating joint 61 connected toa lower end of the post frame 50 and a second rotating joint 62connected to the radiographic device 70.

The first rotating joint 61 may be rotatable about a center axis of thepost frame 50 vertically extending in the inspection room. Accordingly,the first rotating joint 61 may be rotatable in a plane perpendicular tothe third direction D3. A rotating direction of the first rotating joint61 may be referred to as a fourth direction D4. The fourth direction D4may be a rotating direction about an axis parallel to the thirddirection D3.

The second rotating joint 62 may be rotatable in a plane perpendicularto the ceiling of the inspection room. Thus, the second rotating joint62 may be rotatable about an axis parallel to the first direction D1 orthe second direction D2. A rotating direction of the second rotatingjoint 62 may be referred to as a fifth direction D5. The fifth directionD5 may be a rotating direction about an axis extending in the firstdirection D1 or the second direction D2.

The radiographic device 70 may be connected to the rotating joint 60 andis rotatable in the fourth direction D4 and the fifth direction D5.Additionally, the radiographic device 70 may be connected to the postframe 50 via the rotating joint 60 and may be linearly movable in thefirst direction D1, the second direction D2 and third direction D3.

The drive device 110 may move the radiographic device 70 in the first tofifth directions D1 to D5. The drive device 110 may be an electricallydriven motor. The drive device 110 may include first, second, third,fourth and fifth drive devices 111, 112, 113, 114 and 115 correspondingto the first to fifth directions D1 to D5 respectively.

The drive devices 111, 112, 113, 114 and 115 may be arranged at variouspositions for convenience of design. For example, the first drive device111 may serve to move the second guide rail 32 in the first direction D1and may be located near the first guide rail 31. The second drive device112 may serve to move the moving carriage 40 in the second direction D2and may be located near the second guide rail 32. The third drive device113 may serve to increase or decrease the length of the post frame 50 inthe third direction D3 and may be located in the moving carriage 40. Inaddition, the fourth drive device 114 may serve to rotate theradiographic device 70 in the fourth direction D4 and may be locatednear the first rotating joint 61. The fifth drive device 115 may serveto rotate the radiographic device 70 in the fifth direction D5 and maybe located near the second rotating joint 62.

Each drive device 110 may be connected to a power transmission mechanism(not shown) to enable linear movement or rotation of the radiographicdevice 70 in the first to fifth directions D1 to D5. The powertransmission mechanism (not shown) may generally include belts andpulleys, chains and sprockets, shafts, etc.

A moving handle 80 for a user to grip may be provided near theradiographic device 70. The moving handle 80 may be secured to theradiographic device 70 to allow the user to move the radiographic device70 by applying force or torque. Movement of the radiographic device 70will be described hereinafter.

An operating panel 90 may be provided for inputting a variety ofradiography information and to operate the aforementioned devices. Theoperating panel 90 is located at a position assuring easy access andmanipulation by the user and may be located at a surface of theradiographic device 70.

The control device 130 may be connected to the respective devices of theradiography system 1 including the drive device 110 and the operatingpanel 90 to control the respective devices.

The control device 130 may be connected to the drive device 110 and maybe configured to move the radiographic device 70 to a desired position.For example, if the user inputs a desired radiography position to theoperating panel 90, the control device 130 judges a current position andthe inputted desired radiography position, and controls operation of thedrive device 110 required to be driven. With operation of the drivedevice 110, the radiographic device 70 may be moved to the desiredradiography position inputted by the user. This mode may be referred toas the automated movement mode.

On the other hand, the user may directly move the radiographic device 70by applying force or torque. This mode may be referred to as the manualmovement mode. A mode converter 81 may be provided to switch the modefrom the automated movement mode to the manual movement mode. The modeconverter 81 may be a switch integrated with the operating panel 90, ora switch may be provided on the moving handle 80. If the mode converter81 is integrated with the moving handle 80, the manual movement mode maybe activated when the user grips the moving handle 80, and may beswitched to the automated movement mode when the user releases themoving handle 80.

To move the radiographic device 70 in the manual movement mode, a largeforce or torque may be necessary to overcome friction to move each drivedevice 110. Therefore, operating the drive device 110 based on theuser's desired movement may allow the radiographic device 70 to be movedeven with a force or torque less than the necessary large force ortorque. Here, the user's desired movement may be determined based on theforce or torque applied to the radiographic device 70 by the user. Themanual movement mode in which the drive device 110 operates based on theuser's desired movement to move the radiographic device 70 may bereferred to as a power-assisted movement mode to avoid confusion with amanual movement mode in which the user manually moves a radiographicdevice without a drive device operation.

Thus, to determine the user's desired movement, the radiography system 1may include the measuring device 120 to measure force or torque appliedby the user.

The measuring device 120 may be connected to the control device 130 toallow the control device 130 to operate the drive device 110 based onthe force or torque measured by the measuring device 120.

The measuring device 120 may include 1) first, second and third forcesensors 121, 122 and 123 to measure a force applied in the first, secondand third directions D1, D2 and D3, and 2) first and second torquesensors 124 and 125 to measure torque applied in the fourth and fifthdirections D4 and D5.

The first force sensor 121 may serve to measure a direction andmagnitude of force in the first direction D1. The first force sensor 121may be located at a position to which the force in the first directionD1 is measurable. As illustrated in FIG. 3, the first force sensor 121may be located near the first drive device 111. Since the force appliedby the user in the first direction D1 may be transmitted to an outputend of the first drive device 111, the first force sensor 121 connectedto the output end of the first drive device 111 may measure thedirection and magnitude of the force in the first direction D1.

The position of the first force sensor 121 is not limited to near thefirst drive device 111 and may be located anywhere so long as it maymeasure the force in the first direction D1. For example, the firstforce sensor 121 may be disposed between the radiographic device 70 andthe rotating joint 60, or between the rotating joint 60 and the lowerend post of the post frame 50. Note that positioning the first forcesensor 121 between the radiographic device 70 and the rotating joint 60may make it impossible for the first force sensor 121 to measure theforce in the first direction D1 directly applied to the post frame 50without passing through the radiographic device 70. In this case,accordingly, it may be necessary for the user to apply force to themoving handle 80 or the radiographic device 70 in the first direction D1in order to move the radiographic device 70 in the first direction D1.

Similarly, the second force sensor 122 and the third force sensor 123may be arranged at arbitrary positions to measure a force in the seconddirection D2 and a force in the third direction D3, respectively. Asillustrated in FIG. 3, the second force sensor 122 may be located nearan output end of the second drive device 112, and the third force sensor123 may be located near an output end of the third drive device 113.

The first torque sensor 124 may serve to measure a direction andmagnitude of torque in the fourth direction D4. If the user appliestorque in the fourth direction D4 to rotate the radiographic device 70in the first direction D4, the first torque sensor 124 may measure thedirection and magnitude of the torque. As such, the first torque sensor124 is located to allow measurement of the torque in the fourthdirection D4. As illustrated in FIG. 3, the first torque sensor 124 maybe located between the lower end post of the post frame 50 and the firstrotating joint 61 and may be connected to both the lower end post of thepost frame 50 and the first rotating joint 61.

The second torque sensor 125 may be located at an arbitrary position tomeasure torque in the fifth direction D5. As illustrated in FIG. 3, thesecond torque sensor 125 may be disposed between the second rotatingjoint 62 and the radiographic device 70.

Although the first, second and third force sensors 121, 122 and 123 andthe first and second torque sensors 124 and 125 have been described asbeing provided to measure force or torque in each direction, two or moresensors may be integrated with one another. For example, the first,second and third force sensors 121, 122 and 123 may be replaced by aforce sensor designed to measure forces in three directionsperpendicular to one another, and the first and second torque sensors124 and 125 may be replaced by a torque sensor designed to measuretorque in two directions. Additionally, the measuring device 120 maytake the form of various combinations of these force sensors and torquesensors based on characteristics thereof.

FIG. 5A illustrates an exploded perspective view of a radiographysystem, and FIG. 5B illustrates a perspective view of a force torquesensor provided in the radiography system of FIG. 5A.

Referring to FIGS. 5A and 5B, the measuring device 120 may include aforce torque sensor 126.

The force torque sensor 126 may measure forces in three directionsperpendicular to one another and rotational torque with respect to eachof the three directions. As such, the force torque sensor 126 may havean ability to measure force and torque along a total of six axes, andtherefore may function to measure the three directional forces appliedin the first to third directions D1 to D3 and the two directionaltorques applied in the fourth and fifth directions D4 and D5.

The force torque sensor 126 may be connected to the control device 130to transmit the measured direction and magnitude of force or torque tothe control device 130.

The force torque sensor 126 may be located near the radiographic device70 to understand the user's desired movement by measuring the force ortorque applied to the radiographic device 70. To this end, the forcetorque sensor 126 may be located between the moving handle 80 and theradiographic device 70. Since the user grips the moving handle 80 toapply force or torque to the moving handle 80 when in the manualmovement mode, connecting the force torque sensor 126 to the movinghandle 80 enables an accurate measurement of the force or torque.

The force torque sensor 126 may be provided between the radiographicdevice 70 and the rotating joint 60 and may be connected both to theradiographic device 70 and the rotating joint 60. Even if the userdirectly applies force or torque to the radiographic device 70 by ameans other than the moving handle 80, positioning the force torquesensor 126 at the above-described position enables measurement of theforce or torque.

FIG. 6 illustrates an example of a moving method of the radiographysystem.

The user may switch from the automated movement mode to the manualmovement mode (210). The user may begin the manual movement mode byoperating the mode converter 81 illustrated in FIG. 4. As describedabove, if the mode converter 81 is integrated with the moving handle 80illustrated in FIG. 2, the manual movement mode begins in response tothe user gripping the moving handle 80.

The measuring device 120 illustrated in FIG. 2 measures force or torqueapplied to the radiography system (220). The measuring device 120 maytransmit a measured value to the control device 130 illustrated in FIG.2. Alternatively, the control device 130 may monitor the measured forceor torque value by periodically receiving electric signals from themeasuring device 120.

The control device 130 may determine the direction and magnitude ofdrive force of the drive device 110 based on the measured force ortorque. The direction of drive force of the drive device 110 maycoincide with the direction of the measured force or torque and themagnitude of drive force of the drive device 110 may be proportional tothe magnitude of the measured force or torque. The proportionalrelationship between the magnitude of the measured force or torque andthe magnitude of drive force of the drive device 100 may be previouslyinput in the control device 130.

The control device 130 may operate the drive device 110 based on thedetermined direction and magnitude of drive force of the drive device110 (240). As such, the radiographic device 70 connected to the drivedevice 110 as illustrated in FIG. 2 may be linearly moved or rotated(250).

A confirmation of whether or not the manual movement mode has ended maybe made (260). If the mode converter 81 is integrated with the movinghandle 80, the manual movement mode may end when the user releases themoving handle 80 (270). If the manual movement mode does not end, aconfirmation of whether or not force or torque is applied to theradiography system 1 may be made (220).

FIG. 7 illustrates another example of a moving method of the radiographysystem.

The drive device 110 illustrated in FIG. 2 may be an electrically drivenmotor.

If the manual movement mode begins (310), a confirmation of whether ornot current flowing through the drive device 110 varies may be made(320). If the user applies force or torque to the radiography system 1in an idle state of the drive device 110, the force or torque may betransmitted to the drive device 110, causing a variation in the currentflowing through the drive device 110. As such, if a measured value ofcurrent flowing through the drive device 110 varies, this variation maymean that force or torque is applied to the radiography system 1. Inthis case, note that the drive device 110 includes the measuring device120 illustrated in FIG. 1.

The control device 130 illustrated in FIG. 2 may judge the direction andmagnitude of force or torque applied to the radiography system 1 basedon the measured current variation (330). The current variation measuredin the drive device 110 may be proportional to the magnitude of force ortorque transmitted to the drive device 110, and the plus or minus signof the current variation may correspond to the direction of thetransmitted force or torque. Thus, if a current value measured when noforce or torque is transmitted to the drive device 110 is known, theforce or torque applied to the radiography system 1 may be determinedusing the current variation measured in the drive device 110.

The control device 130 may determine the direction and magnitude ofdrive force of the drive device 110 based on the previously describeddirection and magnitude of force or torque applied to the radiographysystem 1 (340).

The control device 130 may operate the drive device 110 based on thedetermined direction and magnitude of drive force, and the radiographicdevice 70 connected to the drive device 110 as illustrated in FIG. 2 maybe linearly moved or rotated (360).

A confirmation of whether or not the manual operation mode has ended maybe made (370). If the manual operation mode does not end, a confirmationof whether or not current flowing through the drive device 110 variesmay be again made.

As is apparent from the above description, in a radiography systemaccording to example embodiments if a user applied force or torque to aradiographic device in an arbitrary direction, a drive device connectedto the radiographic device is operated based on the force or torque,which allows the user to easily linearly move or rotate the radiographicdevice to a desired position. Further, the drive device may be operableeven if the user does not directly move the radiographic device in aninitial movement stage thereof, which minimizes force or torque that theuser has to apply to the radiographic device.

Furthermore, operating the drive device based on force or torquemeasured by a measuring device may simplify a movement algorithm of theradiographic device, enabling precise linear movement or rotation of theradiographic device.

A number of examples have been described above. Nevertheless, it will beunderstood that various modifications may be made. For example, suitableresults may be achieved if the described techniques are performed in adifferent order and/or if components in a described system,architecture, device, or circuit are combined in a different mannerand/or replaced or supplemented by other components or theirequivalents. Accordingly, other implementations are within the scope ofthe following claims.

FIG. 1

70: RADIOGRAPHIC DEVICE

110: DRIVE DEVICE

120: MEASURING DEVICE

130: CONTROL DEVICE

FIG. 6

210: BEGIN MANUAL MOVEMENT MODE

220: MEASURE FORCE OR TORQUE USING MEASURING DEVICE

230: DETERMINE DIRECTION AND MAGNITUDE OF DRIVE FORCE OF DRIVE DEVICEBASED ON MEASURED FORCE OR TORQUE USING CONTROL DEVICE

240: OPERATE DRIVE DEVICE USING CONTROL DEVICE

250: MOVE RADIOGRAPHIC DEVICE

260: USER STOP MANUAL MOVEMENT MODE?

270: END MANUAL MOVEMENT MODE

FIG. 7

310: BEGIN MANUAL MOVEMENT MODE

320: CONFIRM CURRENT VARIATION OF DRIVE DEVICE

330: DETERMINE DIRECTION AND MAGNITUDE OF FORCE OR TORQUE BASED ONMEASURED CURRENT VARIATION USING CONTROL DEVICE

340: DETERMINE DIRECTION AND MAGNITUDE OF DRIVE FORCE OF DRIVE DEVICEUSING CONTROL DEVICE

350: OPERATE DRIVE DEVICE USING CONTROL DEVICE

360: MOVE RADIOGRAPHIC DEVICE

370: USER STOP MANUAL MOVEMENT MODE?

380: END MANUAL MOVEMENT MODE

What is claimed is:
 1. A radiography system comprising: a radiographicdevice; a measuring device configured to measure an external forceapplied to the measuring device; and a drive apparatus configured toprovide both a power-assisted mode and an automated mode, the driveapparatus being configured to move the radiographic device in thepower-assisted mode based on a direction and a magnitude of the externalforce measured by the measuring device, and, in response to a userinputting a desired position of the radiographic device, to move theradiographic device in the automated mode based on the desired positionof the radiographic device input by the user.
 2. The radiography systemof claim 1, wherein the drive apparatus comprises a drive elementcoupled to the radiographic device; and the drive apparatus is furtherconfigured to move the radiographic device in the power-assisted modeusing the drive element based on a direction and a magnitude of theexternal force measured by the measuring device, and to move theradiographic device in the automated mode using the drive element usedin the power-assisted mode based on the desired position of theradiographic device input by the user.
 3. The radiography system ofclaim 1, further comprising a power transmission mechanism configured tomove the radiographic device in response to a driving force applied tothe power transmission mechanism by the drive apparatus; wherein thedrive apparatus is constantly engaged with the power transmissionmechanism regardless of whether the drive apparatus is operating in thepower-assisted mode or the automated mode.
 4. The radiography system ofclaim 1, wherein the drive apparatus is coupled to the radiographicdevice without any clutch configured to disengage the drive apparatusfrom the radiographic device.
 5. The radiography system of claim 4,wherein the radiography system does not comprise any brake configured tobrake in x-axis, y-axis, and z-axis directions.
 6. The radiographysystem of claim 1, further comprising an operating panel unit configuredto input information for operating the radiography system; wherein themeasuring device is mounted on the radiographic device; and theoperating panel unit is mounted on the measuring device.
 7. Theradiography system of claim 1, wherein the drive apparatus is furtherconfigured to: receive an input of a proportional relationship betweenthe magnitude of the external force measured by the measuring device anda magnitude of a drive force applied to the radiographic device by thedrive apparatus; and move the radiographic device in the power-assistedmode based on the direction and the magnitude of the external forcemeasured by the measuring device and the proportional relationship inputto the drive apparatus.
 8. A radiography system comprising: aradiographic device; a measuring device configured to measure anexternal force applied to the measuring device; and a drive apparatusconfigured to provide a power-assisted mode and an automated mode, thedrive apparatus being configured to control movement of the radiographicdevice in the power-assisted mode in response to the external forcemeasured by the measuring device, and, in response to a user inputtingan instruction, to control movement of the radiographic device in theautomated mode in response to the instruction from the user.
 9. Theradiography system of claim 8, wherein the drive apparatus comprises adrive element coupled to the radiographic device; and the driveapparatus is further configured to move the radiographic device in thepower-assisted mode using the drive element based on a direction and amagnitude of the external force measured by the measuring device, and tomove the radiographic device in the automated mode using the driveelement used in the power-assisted mode based on a desired position ofthe radiographic device input by the user.
 10. The radiography system ofclaim 8, further comprising a power transmission mechanism configured tomove the radiographic device in response to a driving force applied tothe power transmission mechanism by the drive apparatus; wherein thedrive apparatus is constantly engaged with the power transmissionmechanism regardless of whether the drive apparatus is operating in thepower-assisted mode or the automated mode.
 11. A control apparatus for aradiography system, the control apparatus comprising: a measuring deviceconfigured to measure an external force applied to the measuring device;and a drive apparatus configured to provide a power-assisted mode and anautomated mode, the drive apparatus being configured to control movementof a radiographic device of the radiography system in the power-assistedmode in response to the external force measured by the measuring device,and, in response to a user inputting an instruction, to control movementof the radiographic device in the automated mode in response to theinstruction from the user.
 12. A radiography system comprising: aradiographic device; a measuring device configured to measure a forceapplied to the measuring device; and a drive apparatus configured toprovide a power-assisted mode and an automated mode, the drive apparatusbeing configured to control movement of the radiographic device in threedirections in the power-assisted mode based on the force measured by themeasuring device, and, in response to a user inputting a desiredposition of the radiographic device, to control movement of theradiographic device in the three directions in the automated mode basedon the desired position of the radiographic device input by the user.13. The radiography system of claim 12, further comprising three powertransmission mechanisms each configured to move the radiographic devicein a respective one of the three directions in response to a respectivedriving force applied to the power transmission mechanism by the driveapparatus; wherein the drive apparatus is constantly engaged with thethree power transmission mechanisms regardless of whether the driveapparatus is operating in the automated mode or the power-assisted mode.14. The radiography system of claim 12, further comprising an operatingpanel unit mounted on the measuring device and configured to inputinformation for operating the radiography system; and a grip mounted onthe operating panel unit and configured to be gripped by the user toapply the force to the measuring device via the operating panel unit.15. The radiography system of claim 14, wherein the measuring device ismounted on the radiographic device.
 16. The radiography system of claim12, wherein the drive apparatus is coupled to the radiographic devicewithout any clutches configured to disengage the drive apparatus fromthe radiographic device.
 17. The radiography system of claim 16, whereinthe radiography system does not comprise any brake configured to brakethe radiographic device in any of the three directions.
 18. Theradiography system of claim 12, further comprising: a first guide railmounted on a ceiling and extending in an x-axis direction; a secondguide rail slidably mounted on the first rail and extending in a y-axisdirection; and a post frame slidably mounted on the second guide railand configured to have a length that is increasable and decreasable in az-axis direction; wherein the radiographic device is supported by thepost frame; and the drive apparatus is further configured to: move thesecond guide rail along the first guide rail in the x-axis direction tomove the radiographic device in the x-axis direction; move the postframe along the second guide rail in the y-axis direction to move theradiographic device in the y-axis direction; and increase and decreasethe length of the post frame in the z-axis direction to move theradiographic device in the z-axis direction.
 19. The radiography systemof claim 12, wherein the measuring device is configured to measure theforce applied to the measurement device as three force components in thethree directions; and the drive apparatus is further configured tocontrol the movement of the radiographic device in the three directionsin the power-assisted mode based on the three force components in thethree directions.
 20. A radiography system comprising: a radiographicdevice; a measuring device configured to measure an external forceapplied to the measuring device; and a drive apparatus configured toprovide both a power-assisted mode and an automated mode, the driveapparatus being configured to move the radiographic device in thepower-assisted mode based on a direction and a magnitude of the externalforce measured by the measuring device, and to move the radiographicdevice in the automated mode based on a desired position of theradiographic device input by a user; wherein the drive apparatus isfurther configured to switch between the power-assisted mode and theautomated mode in response to an instruction from the user.
 21. Aradiography system comprising: a radiographic device; a measuring deviceconfigured to measure an external force applied to the measuring device;a drive apparatus configured to provide both a power-assisted mode andan automated mode, the drive apparatus being configured to move theradiographic device in the power-assisted mode based on a direction anda magnitude of the external force measured by the measuring device, andto move the radiographic device in the automated mode based on a desiredposition of the radiographic device input by a user; and a modeconversion switch configured to be actuated by the user; wherein thedrive apparatus is further configured to switch from the automated modeto the power-assisted mode in response to the mode conversion switchbeing actuated by the user, and to switch from the power-assisted modeto the automated mode in response to the mode conversion switch beingreleased by the user.
 22. A radiography system comprising: aradiographic device; a measuring device configured to measure a forceapplied to the measuring device; and a drive apparatus configured toprovide a power-assisted mode and an automated mode, the drive apparatusbeing configured to control movement of the radiographic device in threedirections in the power-assisted mode based on the force measured by themeasuring device, and to control movement of the radiographic device inthe three directions in the automated mode based on a desired positionof the radiographic device input by a user; wherein the drive apparatusis further configured to switch between the power-assisted mode and theautomated mode in response to an instruction from the user.
 23. Aradiography system comprising: a radiographic device; a measuring deviceconfigured to measure a force applied to the measuring device; a driveapparatus configured to provide a power-assisted mode and an automatedmode, the drive apparatus being configured to control movement of theradiographic device in three directions in the power-assisted mode basedon the force measured by the measuring device, and to control movementof the radiographic device in the three directions in the automated modebased on a desired position of the radiographic device input by a user;and a mode conversion switch configured to be actuated by the user;wherein the drive apparatus is further configured to switch from theautomated mode to the power-assisted mode in response to the modeconversion switch being actuated by the user, and to switch from thepower-assisted mode to the automated mode in response to the modeconversion switch being released by the user.
 24. The radiography systemof claim 23, further comprising an operating panel unit mounted on themeasuring device and configured to input information for operating theradiography system; and a grip mounted on the operating panel unit andconfigured to be gripped by the user to apply the force to the measuringdevice via the operating panel unit; wherein the mode conversion switchis mounted on the grip and is configured to be actuated by the user inresponse to the user gripping the grip to apply the force to themeasuring device via the operating panel unit.
 25. The radiographysystem of claim 24, wherein the measuring device is mounted on theradiographic device.